internal override void AddServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (gate)
{
clientLinks.Add(iServiceClientLink);
}
}
internal override void RemoveServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (gate)
{
clientLinks.Remove(iServiceClientLink);
}
}
public override void processRequest(ref byte[] buf, int num_bytes, IServiceClientLink link)
{
var cb = new ServiceCallback(this, helper, buf, num_bytes, link, has_tracked_object, tracked_object);
this.callbackId = cb.Uid;
callback.AddCallback(cb);
}
public override Task <(RosMessage, bool)> ProcessRequest(byte[] buf, IServiceClientLink link)
{
var cb = new ServiceCallback(this, helper, buf, link);
callback.AddCallback(cb, gate);
return(cb.ResultTask);
}
private async Task StartReadHeader(Connection connection)
{
try
{
var headerFields = await connection.ReadHeader(cancel);
if (headerFields.ContainsKey("topic"))
{
TransportSubscriberLink subscriberLink = new TransportSubscriberLink();
subscriberLink.Initialize(connection, new Header(headerFields));
}
else if (headerFields.ContainsKey("service"))
{
IServiceClientLink serviceClientLink = new IServiceClientLink();
serviceClientLink.Initialize(connection, new Header(headerFields));
}
else
{
throw new RosException("Received a connection for a type other than topic or service.");
}
}
catch (Exception e)
{
logger.LogWarning(e, e.Message);
connection.Dispose();
}
}
public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
{
this.isp = sp;
if (this.isp != null && _helper != null)
{
this.isp.helper = _helper;
}
this.buffer = buf;
this._numBytes = num_bytes;
this.link = link;
this._hasTrackedObject = has_tracked_object;
this._trackedObject = tracked_object;
}
public bool OnConnectionHeaderReceived(Connection conn, Header header)
{
bool ret = false;
if (header.Values.ContainsKey("topic"))
{
TransportSubscriberLink sub_link = new TransportSubscriberLink();
ret = sub_link.Initialize(conn);
ret &= sub_link.HandleHeader(header);
}
else if (header.Values.ContainsKey("service"))
{
IServiceClientLink iscl = new IServiceClientLink();
ret = iscl.initialize(conn);
ret &= iscl.handleHeader(header);
}
else
{
ROS.Warn()($"[{ThisNode.Name}] Got a connection for a type other than topic or service from [{conn.RemoteString}].");
return(false);
}
//ROS.Debug()( $"[{ThisNode.Name}] CONNECTED [{val}]. WIN." );
return(ret);
}
public ServiceCallback(ServicePublication <MReq, MRes> sp, ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, IServiceClientLink link)
{
this.isp = sp;
if (this.isp != null && _helper != null)
{
this.isp.helper = _helper;
}
this.buffer = buf;
this.link = link;
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, IServiceClientLink link)
: this(null, _helper, buf, link)
{
}
public ServiceCallback(ServiceCallbackHelper <MReq, MRes> _helper, byte[] buf, int num_bytes, IServiceClientLink link, bool has_tracked_object, object tracked_object)
: this(null, _helper, buf, num_bytes, link, has_tracked_object, tracked_object)
{
}
internal override void removeServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (client_links_mutex)
client_links.Remove(iServiceClientLink);
}
internal override void addServiceClientLink(IServiceClientLink iServiceClientLink)
{
lock (client_links_mutex)
client_links.Add(iServiceClientLink);
}
public abstract void processRequest(ref byte[] buffer, int size, IServiceClientLink iServiceClientLink);
internal abstract void removeServiceClientLink(IServiceClientLink iServiceClientLink);
internal abstract void addServiceClientLink(IServiceClientLink iServiceClientLink);
